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IMU_DUAL/Core/Src/main.c
Winston aff61940e0 屏蔽TDK IMU
2023-10-23 13:20:32 +08:00

258 lines
7.1 KiB
C
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "user_asm330lhh.h"
#include "asm330lhh_reg.h"
#include "user_iam20680.h"
#include "rtklib.h"
#include "stdio.h"
#include <global_var.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_SPI1_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_SPI2_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim3);
user_dev_init();
// user_dev_init1();
memcpy(IMU_mng_TDK.name, "TDK\0", 4);
memcpy(IMU_mng_ST.name, "STM\0", 4);
/* enable IMU */
IMU_mng_ST.enable = 1;
IMU_mng_TDK.enable = 0;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
if (1 == ST_IMU_INT && 1 == IMU_mng_ST.enable)
{
ST_IMU_INT = 0;
asm_sample();
if (IMU_mng_ST.ready == 1)
{
IMU_mng_ST.IMU_gyro[0] = asm330.x_gyro;
IMU_mng_ST.IMU_gyro[1] = asm330.y_gyro;
IMU_mng_ST.IMU_gyro[2] = asm330.z_gyro;
IMU_mng_ST.IMU_acc[0] = asm330.x_acc;
IMU_mng_ST.IMU_acc[1] = asm330.y_acc;
IMU_mng_ST.IMU_acc[2] = asm330.z_acc;
IMU_mng_ST.lock = 1;
};
}
if (1 == TDK_IMU_INT && 1 == IMU_mng_TDK.enable)
{
TDK_IMU_INT = 0;
tdk_sample();
if (IMU_mng_TDK.ready == 1)
{
IMU_mng_TDK.IMU_gyro[0] = iam20680.x_gyro;
IMU_mng_TDK.IMU_gyro[1] = iam20680.y_gyro;
IMU_mng_TDK.IMU_gyro[2] = iam20680.z_gyro;
IMU_mng_TDK.IMU_acc[0] = iam20680.x_acc;
IMU_mng_TDK.IMU_acc[1] = iam20680.y_acc;
IMU_mng_TDK.IMU_acc[2] = iam20680.z_acc;
IMU_mng_TDK.lock = 1;
};
}
IMUdate_to_uart(&huart1, &IMU_mng_ST);
IMUdate_to_uart(&huart1, &IMU_mng_TDK);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };
RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg)
{
if (1 == imu_msg->lock && 1 == imu_msg->ready && 0 == U1_DMA_BUSY)
{
memset(U1_TX_buf, 0, UART_BF_SIZE);
if (imu_msg->gpstime.time == 0)
{
sprintf((char*) U1_TX_buf, "$GYOACC,%s,,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf\r\n", imu_msg->name,
imu_msg->IMU_acc[0], imu_msg->IMU_acc[1], imu_msg->IMU_acc[2], imu_msg->IMU_gyro[0],
imu_msg->IMU_gyro[1], imu_msg->IMU_gyro[2]);
}
else
{
sprintf((char*) U1_TX_buf, "$GYOACC,%s,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf\r\n", imu_msg->name,
imu_msg->gpstime.time + imu_msg->gpstime.sec, imu_msg->IMU_acc[0], imu_msg->IMU_acc[1],
imu_msg->IMU_acc[2], imu_msg->IMU_gyro[0], imu_msg->IMU_gyro[1], imu_msg->IMU_gyro[2]);
}
HAL_UART_Transmit_DMA(&huart1, U1_TX_buf, strlen((char*) U1_TX_buf));
U1_DMA_BUSY = 1;
// HAL_UART_Transmit_IT(&huart1, str_buf, strlen((char*) str_buf));
// HAL_UART_Transmit(&huart1, str_buf, strlen((char*) str_buf), 0x04);
imu_msg->lock = 0;
imu_msg->ready = 0;
}
return 1;
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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